The present disclosure relates to a position determining unit (800) for a land or sea based object and a method for determining a position. The position determining unit comprises or has access to a three dimensional map (802) comprising three dimensional geo-referenced position data. The position determining unit comprises further map part selector means (803) for selecting a part of the three dimensional map (802) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument (805) arranged to obtain bearing and/or distance information related to the land or sea based object, and a computing and control unit (804) arranged to relate each obtained bearing and/or distance information to a corresponding obtained geo-referenced position and to determine a geographical position of the land or sea based object based on the bearing and/or distance information and the corresponding obtained geo-referenced positions.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A position determining unit ( 800 ) for a land or sea navigating object, said position determining unit comprising: an accessible three dimensional map ( 602 ), map part selector means ( 803 ) configured to select a part of the three dimensional map ( 602 ) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument ( 805 ) configured to obtain at least one of bearing or distance information related to the land or sea navigating based object, a computing and control unit ( 804 ) configured to (a) relate each obtained at least one of bearing or distance information to a corresponding obtained geo-referenced position and to (b) determine a geographical position of the land or sea navigating object based on the at least one of bearing or distance information and the corresponding obtained geo-referenced positions, and a sensor arrangement ( 809 ) configured to obtain sensor data comprising data related to a reference point associated to a corresponding obtained geo-referenced position, wherein the computing and control unit ( 804 ) is configured to continuously update the geographical position of the land or sea navigating object based on the determined geographical position, based on a property of the reference point in first sensor data associated to the timing of the determination of the geographical position and based on changes in the property of the reference point in continuously updated second sensor data.
2. The position determining unit according to claim 1 , wherein the bearing information comprises at least one of an azimuth angle value or an elevation angle value.
3. The position determining unit ( 800 ) according to claim 1 , wherein the computing and control unit ( 604 ) is configured to determine the geographical position of the land or sea navigating object in three dimensions.
4. The position determining unit according to claim 3 , wherein at least one of the bearing or the distance information comprises at least three measurement values.
5. The position determining unit ( 800 ) according to claim 1 , wherein the computing and control unit ( 804 ) is configured to determine the geographical position of the land or sea navigating object in two dimensions.
6. The position determining unit according to claim 5 , wherein at least one of the bearing or the distance information comprises at least two measurement values.
7. The position determining unit ( 800 ) according to claim 1 , wherein the computing and control unit ( 804 ) is configured to continuously update the geographical position of the land or sea navigating object based on the obtained geo-referenced position of the reference point.
8. The position determining unit ( 800 ) according to claim 1 , wherein at least one of the measurement instruments ( 805 ) comprises the sensor arrangement ( 809 ).
9. The position determining unit ( 800 ) according to claim 8 , wherein the sensor arrangement ( 809 ) is locked at the reference point having a corresponding obtained geo-referenced position.
10. The position determining unit ( 800 ) according to claim 1 , wherein the computing and control unit ( 804 ) is configured to calibrate or reset at least one of the bearing or the position information obtained by the at least one measurement instrument ( 605 ) based on the obtained geo-referenced positions.
11. The position determining unit ( 800 ) according to claim 1 , wherein the at least one measurement instrument ( 805 ) comprises at least one of a Laser Range Finder, an LRF, a radar unit, an electro-optical instrument or an optical sight.
12. The position determining unit ( 800 ) according to claim 1 , wherein the obtained geo-referenced position relates to the current position of the position determining unit ( 800 ) and wherein the computing and control unit ( 804 ) is configured to determine the geographical position of the land or sea navigating object based on the obtained geo-referenced position relating to the current position of the position determining unit ( 800 ).
13. The position determining unit ( 800 ) according to claim 12 , wherein the means for ( 803 ) for selecting a part of the three dimensional map ( 802 ) comprises a user interface ( 803 ) for manually indicating whether the selected part of the three dimensional map ( 802 ) relates to a current position of the position determining unit ( 800 ) or to at least one of the bearing or the distance information obtained by the at least one measurement instrument ( 805 ).
14. The position determining unit ( 800 ) according to claim 1 , further comprising at least one position obtaining unit ( 801 ) configured to obtain position data related to the current position of the land or sea navigating object, and wherein the computing and control unit ( 804 ) is configured to determine the geographical position of the land or sea based object based on the position data obtained by the position obtaining unit ( 801 ).
15. The position determining unit ( 800 ) according to claim 14 , wherein the computing and control unit ( 804 ) is configured to calibrate or reset the position data obtained by the at least one position obtaining unit ( 801 ) with the geo-referenced position associated with the selected part.
16. The position determining unit ( 800 ) according claim 14 , wherein the at least one position obtaining unit ( 801 ) comprises at least one of an Inertial Measurement Unit, IMU ( 606 ), an odometer ( 607 ) or a receiver ( 808 ) for a radio based global positioning system.
17. The position determining unit ( 800 ) according claim 16 , wherein the radio based global positioning system is a GPS.
18. The position determining unit ( 800 ) according to claim 1 , wherein the computing and control unit ( 804 ) is configured to determine an uncertainty measure related to the determined geographical position of the land or sea navigating object.
19. The position determining unit according to claim 18 , wherein at least one of the position obtaining unit or the measurement instrument is reset/calibrated when the uncertainty measure decreases below a pre-set value.
20. The position determining unit according to claim 1 , wherein the computing and control unit ( 804 ) is configured to receive second position information related to the land or sea navigating object from a second source ( 808 ), and to determine a difference between the second position information obtained from the second source and the determined position or obtained update of the position of the land or sea based object.
21. The position determining unit according to claim 20 , wherein the computing and control unit ( 804 ) is further configured to detect an uncertainty in the obtained second position information when the difference exceeds a predetermined value.
22. The position determining unit ( 800 ) according claim 20 , wherein the second source is a radio based global positioning system.
23. The position determining unit ( 800 ) according claim 22 , wherein the radio based global positioning system is a GPS.
24. A method ( 900 , 1000 , 1100 ) for determining a position of a land or sea navigating object, the method comprising the steps of: obtaining, with at least one measurement instrument, one of bearing or distance information ( 971 ) related to the land or sea navigating object, determining ( 972 ) for the obtained at least one of bearing or distance information an associated part of a three dimensional map comprising three dimensional geo-referenced position data, obtaining a geo-referenced position ( 973 ) for each determined part of the three dimensional map, obtaining, with at least one position obtaining unit, position data ( 970 ) related to a current position of the land or sea navigating object, and determining a geographical position ( 974 ) of the land or sea navigating object based on the obtained position data ( 970 ) and the obtained at least one of bearing or distance information and corresponding obtained geo-referenced positions.
25. The method according to claim 24 , wherein the bearing information comprises at least one of an azimuth angle value or an elevation angle value.
26. The method according to claim 24 , wherein the geographical position of the land or sea navigating object is determined in three dimensions.
27. The method according to claim 26 , wherein at least one of the bearing or distance information comprises at least three measurement values.
28. The method according to claim 24 , wherein the geographical position of the land or sea navigating object is determined in two dimensions.
29. The method according to claim 28 , wherein at least one of the bearing or distance information comprises at least two measurement values.
30. The method according to claim 24 , wherein the obtained geo-referenced position ( 973 ) relates to the current position of the land or sea b navigating object and wherein the determining of the geographical position ( 974 ) of the land or sea navigating object is based on the obtained geo-referenced position relating to the current position of the land or sea navigating object.
31. The method according to claim 30 , wherein the step of determining ( 972 ) a part of the three dimensional map comprises manually indicating whether the determined map part of the three dimensional map relates to the current position of the land or sea navigating object or at least one of the bearing or the distance information obtained by the at least one measurement instrument.
32. The method according claim 24 , further comprising a step of resetting or calibrating ( 976 ) at least one of the at least one measurement instrument or position obtaining unit.
33. The method according to claim 32 , wherein the step of resetting or calibrating ( 976 ) at least one of the at least one position obtaining unit or measurement instrument is based on the obtained geo-referenced position associated with at least one of the selected parts of the three-dimensional map.
34. The method according to claim 24 , further comprising a step of determining an uncertainty measure ( 975 ) related to the determined position of the land or sea navigating object.
35. The method ( 1100 ) according to claim 24 , further comprising obtaining first sensor data ( 1191 ) associated to the timing of the determined geographical position, wherein the first sensor data comprises data related to a reference point associated to at least one property and associated to a corresponding obtained geo-referenced position; repeatedly obtaining ( 1192 ) updated second reference data comprising data related to the reference point, and obtaining ( 1194 ) an update of the geographical position of the land or sea navigating object based on the determined geographical position of the land or sea navigating object and based on a relation in the at least one property between the first sensor data and the updated second sensor data.
36. The method according to claim 35 , further comprising determining ( 1195 ) an uncertainty in the obtained update of the geographical position, wherein updating of the geographical position is ended ( 996 ) when the uncertainty exceeds a predetermined threshold.
37. The method ( 1000 ) according to claim 24 , further comprising steps of obtaining second position information ( 1081 ) related to the land or sea navigating object from a different source, and determining a difference ( 1082 ) between the second position information obtained from a different source and the determined position or obtained update of the position of the land or sea navigating object.
38. The method according to claim 37 , further comprising a step of detecting ( 1083 ) an uncertainty in the obtained second position information when the difference exceeds a predetermined value.
39. The method ( 1000 ) according to claim 37 , wherein the different source is a radio based global positioning system.
40. The method ( 1000 ) according to claim 39 , wherein the radio based global positioning system is a GPS.
41. A position determining unit ( 800 ) for a land or sea navigating object, said position determining unit comprising: an accessible three dimensional map ( 602 ), map part selector means ( 803 ) configured to select a part of the three dimensional map ( 602 ) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument ( 805 ) configured to obtain at least one of bearing or distance information related to the land or sea navigating object, and a computing and control unit ( 804 ) configured to (a) relate each obtained at least one of bearing or distance information to a corresponding obtained geo-referenced position and to (b) determine a geographical position of the land or sea navigating object based on the at least one of bearing or distance information and the corresponding obtained geo-referenced positions, wherein the computing and control unit ( 804 ) is configured to calibrate or reset at least one of the bearing or the position information obtained by the at least one measurement instrument ( 605 ) based on the obtained geo-referenced positions.
42. A position determining unit ( 800 ) for a land or sea navigating object, said position determining unit comprising: an accessible three dimensional map ( 602 ), map part selector means ( 803 ) configured to select a part of the three dimensional map ( 602 ) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument ( 805 ) configured to obtain at least one of bearing or distance information related to the land or sea navigating object, and a computing and control unit ( 804 ) configured to (a) relate each obtained at least one of bearing or distance information to a corresponding obtained geo-referenced position and to (b) determine a geographical position of the land or sea navigating object based on the at least one of bearing or distance information and the corresponding obtained geo-referenced positions, wherein: the obtained geo-referenced position relates to the current position of the position determining unit ( 800 ) and wherein the computing and control unit ( 804 ) is configured to determine the geographical position of the land or sea navigating object based on the obtained geo-referenced position relating to the current position of the position determining unit ( 800 ), and the means for ( 803 ) for selecting a part of the three dimensional map ( 802 ) comprises a user interface ( 803 ) for manually indicating whether the selected part of the three dimensional map ( 802 ) relates to a current position of the position determining unit ( 800 ) or to at least one of the bearing or the distance information obtained by the at least one measurement instrument ( 805 ).
43. A position determining unit ( 800 ) for a land or sea navigating object, said position determining unit comprising: an accessible three dimensional map ( 602 ), map part selector means ( 803 ) configured to select a part of the three dimensional map ( 602 ) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument ( 805 ) configured to obtain at least one of bearing or distance information related to the land or sea navigating object, a computing and control unit ( 804 ) configured to (a) relate each obtained at least one of bearing or distance information to a corresponding obtained geo-referenced position and to (b) determine a geographical position of the land or sea navigating object based on the at least one of bearing or distance information and the corresponding obtained geo-referenced positions, and at least one position obtaining unit ( 801 ) configured to obtain position data related to the current position of the land or sea navigating object, and wherein the computing and control unit ( 804 ) is configured to determine the geographical position of the land or sea navigating object based on the position data obtained by the position obtaining unit ( 801 ).
44. A position determining unit ( 800 ) for a land or sea navigating object, said position determining unit comprising: an accessible three dimensional map ( 602 ), map part selector means ( 803 ) configured for selecting a part of the three dimensional map ( 602 ) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument ( 805 ) configured to obtain at least one of bearing or distance information related to the land or sea navigating object, and a computing and control unit ( 804 ) configured to (a) relate each obtained at least one of bearing or distance information to a corresponding obtained geo-referenced position and to (b) determine a geographical position of the land or sea navigating object based on the at least one of bearing or distance information and the corresponding obtained geo-referenced positions, wherein the computing and control unit ( 804 ) is configured to determine an uncertainty measure related to the determined geographical position of the land or sea navigating object.
45. A position determining unit ( 800 ) for a land or sea navigating object, said position determining unit comprising: an accessible three dimensional map ( 602 ), map part selector means ( 803 ) configured to select a part of the three dimensional map ( 602 ) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument ( 805 ) configured to obtain at least one of bearing or distance information related to the land or sea navigating object, and a computing and control unit ( 804 ) configured to (a) relate each obtained at least one of bearing or distance information to a corresponding obtained geo-referenced position and to (b) determine a geographical position of the land or sea navigating object based on the at least one of bearing or distance information and the corresponding obtained geo-referenced positions, wherein the computing and control unit ( 804 ) is configured to receive second position information related to the land or sea navigating object from a second source ( 808 ), and to determine a difference between the second position information obtained from the second source and the determined position or obtained update of the position of the land or sea navigating object.
46. A method ( 900 , 1000 , 1100 ) for determining a position of a land or sea navigating object, the method comprising the steps of: obtaining, with at least one measurement instrument, one of bearing or distance information ( 971 ) related to the land or sea navigating object, determining ( 972 ) for the obtained at least one of bearing or distance information an associated part of a three dimensional map comprising three dimensional geo-referenced position data, obtaining a geo-referenced position ( 973 ) for each determined part of the three dimensional map, determining a geographical position ( 974 ) of the land or sea navigating object based on the obtained at least one of bearing or distance information and corresponding obtained geo-referenced positions, and resetting or calibrating ( 976 ) the at least one measurement instrument.
47. A method ( 900 , 1000 , 1100 ) for determining a position of a land or sea navigating object, the method comprising the steps of: obtaining, with at least one measurement instrument, one of bearing or distance information ( 971 ) related to the land or sea navigating object, determining ( 972 ) for the obtained at least one of bearing or distance information an associated part of a three dimensional map comprising three dimensional geo-referenced position data, obtaining a geo-referenced position ( 973 ) for each determined part of the three dimensional map, determining a geographical position ( 974 ) of the land or sea navigating object based on the obtained at least one of bearing or distance information and corresponding obtained geo-referenced positions, and determining an uncertainty measure ( 975 ) related to the determined position of the land or sea navigating object.
48. A method ( 900 , 1000 , 1100 ) for determining a position of a land or sea navigating object, the method comprising the steps of: obtaining, with at least one measurement instrument, one of bearing or distance information ( 971 ) related to the land or sea navigating object, determining ( 972 ) for the obtained at least one of bearing or distance information an associated part of a three dimensional map comprising three dimensional geo-referenced position data, obtaining a geo-referenced position ( 973 ) for each determined part of the three dimensional map, determining a geographical position ( 974 ) of the land or sea navigating object based on the obtained at least one of bearing or distance information and corresponding obtained geo-referenced positions, obtaining first sensor data ( 1191 ) associated to the timing of the determined geographical position, wherein the first sensor data comprises data related to a reference point associated to at least one property and associated to a corresponding obtained geo-referenced position, repeatedly obtaining ( 1192 ) updated second reference data comprising data related to the reference point, and obtaining ( 1194 ) an update of the geographical position of the land or sea navigating object based on the determined geographical position of the land or sea navigating object and based on a relation in the at least one property between the first sensor data and the updated second sensor data.
49. A method ( 900 , 1000 , 1100 ) for determining a position of a land or sea navigating object, the method comprising the steps of: obtaining, with at least one measurement instrument, one of bearing or distance information ( 971 ) related to the land or sea navigating object, determining ( 972 ) for the obtained at least one of bearing or distance information an associated part of a three dimensional map comprising three dimensional geo-referenced position data, obtaining a geo-referenced position ( 973 ) for each determined part of the three dimensional map, determining a geographical position ( 974 ) of the land or sea navigating object based on the obtained at least one of bearing or distance information and corresponding obtained geo-referenced positions, obtaining second position information ( 1081 ) related to the land or sea navigating object from a different source, and determining a difference ( 1082 ) between the second position information obtained from a different source and the determined position or obtained update of the position of the land or sea navigating object.
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March 19, 2015
July 31, 2018
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